One of the earliest systems for western patrol boats was the French SS-12, but the system could also fire SS-11 and did so for training purposes.

I see no reason why any ATGW shouldn't be mounted on a ship. One useful capability not available to conventional missiles would be precise targeting: assuming the firer could get close enough, the ATGW could be directed (for instance) at the target's bridge or a specific weapon or sensor.

A useful modification to the ATGWs would be an altimeter or height-hold system to avoid it crashing into the sea in rough conditions.

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on blowpipe we had a super elevation aiming line to allow us crest clearence on launch and on Javelin this was replaced by a button which did a similar thing. But a pitching ship might cause the guidance packages some problems, Also unrestricted backblast areas Carl Gustav is 30m

The Wasp from HMS Plymouth as well as two other Wasps launched from Endurance fired AS-12 air-to-surface missiles at the submarine scoring hits.

The AS.12s fired in that engagement weren't fitted with shaped-charge ATGM warheads but with the specific anti-shipping semi-armour-piercing OP3C blast-frag heads which were fused to detonate on the far side of steel plate. Even then, two of them passed through the GFRP sail and tail-fin panels and exited without detonating, it was only one which struck the water a metre or so short of the hull that caused the damage that prevented diving; basically acted as a shallow depth-charge.

The OP3C head is considerably more powerful than anything deployed on any ATGM ( short of AGM-65 ), at 30 kg it's about three times the weight of that on AGM-114. The same design was adopted for the successor Sea Skua.